User Manual

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responses mode, the RPLIDAR will continue to handle the request which has

interrupted it.

The request packets sent by the host system during the multiple responses mode

will be cached by the RPLIDAR’s protocol stack. After leaving the multiple

responses mode, RPLIDAR will handle the cached request.

Single Request-No Response

For requests like STOP, RESET Core, RPLIDAR uses the single request – no response

mode since there is no need to reply to the host system.

Host systems should wait for a period of time before sending another request since

RPLIDAR needs time to process the request operation. Otherwise, the request may

be discarded by the RPLIDAR’s protocol stack.

Figure 2-3 RPLIDAR Single Request-No Response Mode

Request Packets’ Format

All request packets sent by a host system share the following common format. Little

endian byte order is used.

RPLIDAR

Host System

Send a Request Packet

Perform

some

Operation

Waiting for

response

Another request